﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-

from __future__ import print_function
import sys

import RTC
import OpenRTM_aist

consolein_spec = ["implementation_id", "ConsoleIn",
                  "type_name", "ConsoleIn",
                  "description", "Console input component",
                  "version", "1.0",
                  "vendor", "Shinji Kurihara",
                  "category", "example",
                  "activity_type", "DataFlowComponent",
                  "max_instance", "10",
                  "language", "Python",
                  "lang_type", "script",
                  ""]


class ConsoleIn(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        return

    def onInitialize(self):
        self._data = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._outport = OpenRTM_aist.OutPort("out", self._data)
        # Set OutPort buffer
        self.addOutPort("out", self._outport)
        return RTC.RTC_OK

    def onExecute(self, ec_id):
        print("> ", end="")
        self._data.data = int(input())
        print("Sending to subscriber: ", self._data.data)
        self._outport.write()
        return RTC.RTC_OK


def MyModuleInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=consolein_spec)
    manager.registerFactory(profile,
                            ConsoleIn,
                            OpenRTM_aist.Delete)

    # Create a component
    comp = manager.createComponent("ConsoleIn")
    return


def main():
    # Initialize manager
    mgr = OpenRTM_aist.Manager.init(sys.argv)

    # Set module initialization proceduer
    # This procedure will be invoked in activateManager() function.
    mgr.setModuleInitProc(MyModuleInit)

    # Activate manager and register to naming service
    mgr.activateManager()

    # run the manager in blocking mode
    # runManager(False) is the default
    mgr.runManager()

    # If you want to run the manager in non-blocking mode, do like this
    # mgr.runManager(True)


if __name__ == "__main__":
    main()
